diff --git a/ros_web_api_bellande_adaptive_continuious_controller/launch/bellande_controller.launch.py b/ros_web_api_bellande_adaptive_continuious_controller/launch/bellande_controller.launch.py
index 647b04c..cb9beae 100644
--- a/ros_web_api_bellande_adaptive_continuious_controller/launch/bellande_controller.launch.py
+++ b/ros_web_api_bellande_adaptive_continuious_controller/launch/bellande_controller.launch.py
@@ -31,17 +31,16 @@ def ros1_launch_description():
 
 def ros2_launch_description():
     # Declare launch arguments
-    setpoint_arg = DeclareLaunchArgument('setpoint')
-    kp_arg = DeclareLaunchArgument('kp')
-    ki_arg = DeclareLaunchArgument('ki')
-    kd_arg = DeclareLaunchArgument('kd')
+    gains_arg = DeclareLaunchArgument('gains', default_value='[1.0, 0.1, 0.05]')
+    name_arg = DeclareLaunchArgument('name', default_value='BellandeController')
+    output_limits_arg = DeclareLaunchArgument('output_limits', default_value='[-1000.0, 1000.0]')
 
     # Create a list to hold all nodes to be launched
     nodes_to_launch = []
 
     # ROS2 specific configurations
     ros_launch_arguments = [
-        setpoint_arg, kp_arg, ki_arg, kd_arg,
+        gains_arg, name_arg, output_limits_arg,
     ]
 
     nodes_to_launch.append(Node(
@@ -50,10 +49,9 @@ def ros2_launch_description():
         name='bellande_controller_node',
         output='screen',
         parameters=[
-            {'setpoint': LaunchConfiguration('setpoint')},
-            {'kp': LaunchConfiguration('kp')},
-            {'ki': LaunchConfiguration('ki')},
-            {'kd': LaunchConfiguration('kd')},
+            {'gains': LaunchConfiguration('gains')},
+            {'name': LaunchConfiguration('name')},
+            {'output_limits': LaunchConfiguration('output_limits')},
         ],
     ))
 
diff --git a/ros_web_api_bellande_adaptive_continuious_controller/launch/ros1/bellande_controller.launch b/ros_web_api_bellande_adaptive_continuious_controller/launch/ros1/bellande_controller.launch
index 359b763..48b4b18 100644
--- a/ros_web_api_bellande_adaptive_continuious_controller/launch/ros1/bellande_controller.launch
+++ b/ros_web_api_bellande_adaptive_continuious_controller/launch/ros1/bellande_controller.launch
@@ -1,32 +1,32 @@
 <?xml version="1.0"?>
-<!--
-Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
 
-Licensed under the Apache License, Version 2.0 (the "License"); you may not
-use this file except in compliance with the License. You may obtain a copy of
-the License at
+<!-- Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
 
-http://www.apache.org/licenses/LICENSE-2.0
+T
+is program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <https://www.gnu.org/licenses/>. 
+    -->
 
-Unless required by applicable law or agreed to in writing, software
-distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
-WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
-License for the specific language governing permissions and limitations under
-the License.
--->
 <launch>
-  <!-- Define arguments -->
-  <arg name="setpoint" default="0" />
-  <arg name="kp" default="1.0" />
-  <arg name="ki" default="0.1" />
-  <arg name="kd" default="0.05" />
+  <!-- Arguments -->
+  <arg name="gains" default="[1.0, 0.1, 0.05]"/>
+  <arg name="name" default="BellandeController"/>
+  <arg name="output_limits" default="[-1000.0, 1000.0]"/>
 
   <!-- Launch the BellandeController node -->
-  <node name="bellande_controller_node" pkg="ros_web_api_bellande_adaptive_continuious_controller"
-    type="bellande_controller.py" output="screen">
-    <param name="setpoint" value="$(arg setpoint)" />
-    <param name="kp" value="$(arg kp)" />
-    <param name="ki" value="$(arg ki)" />
-    <param name="kd" value="$(arg kd)" />
+  <node name="bellande_controller_node" pkg="ros_web_api_bellande_adaptive_continuious_controller" type="bellande_controller.py" output="screen">
+    <param name="gains" value="$(arg gains)"/>
+    <param name="name" value="$(arg name)"/>
+    <param name="output_limits" value="$(arg output_limits)"/>
   </node>
 </launch>
diff --git a/ros_web_api_bellande_adaptive_continuious_controller/package.xml b/ros_web_api_bellande_adaptive_continuious_controller/package.xml
index 50f4ad4..b60e1b0 100644
--- a/ros_web_api_bellande_adaptive_continuious_controller/package.xml
+++ b/ros_web_api_bellande_adaptive_continuious_controller/package.xml
@@ -15,6 +15,7 @@ GNU General Public License for more details.
 You should have received a copy of the GNU General Public License
 along with this program.  If not, see <https://www.gnu.org/licenses/>.
 -->
+
 <package format="3">
   <name>ros_web_api_bellande_adaptive_continuious_controller</name>
   <version>0.0.1</version>